CN100549752C - The movement in a curve control system of heavy caliber astronomical telescope azimuth axis - Google Patents

The movement in a curve control system of heavy caliber astronomical telescope azimuth axis Download PDF

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CN100549752C
CN100549752C CNB2007101345292A CN200710134529A CN100549752C CN 100549752 C CN100549752 C CN 100549752C CN B2007101345292 A CNB2007101345292 A CN B2007101345292A CN 200710134529 A CN200710134529 A CN 200710134529A CN 100549752 C CN100549752 C CN 100549752C
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voltage
signal
control
circuit
module
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CN101149471A (en
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张振超
胡伟
任长志
汪达兴
朱震莲
李颖
王国民
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中国科学院国家天文台南京天文光学技术研究所
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The movement in a curve control system of heavy caliber astronomical telescope azimuth axis comprises host computer system and next bit computer system, and host computer reaches by serial communication and is connected with slave computer.The next bit computer system comprises the DSP module, actuating motor, signals collecting and comparing element, position data processing single chip.Feature is that telescopical actuating motor is an arc electric motor, is connected with driving circuit and holding circuit on the motor; Be provided with absolute type encoder that is used for the arc electric motor commutation and the incremental encoder that is used for the arc electric motor position probing in signals collecting and the comparing element simultaneously; The signal of scrambler is exported to the DSP module by the position data processing single chip; Driving circuit adopts digitizing to drive the intelligent power mould and determines; The PWM of DSP module exports to the rotation that drives Intelligent Power Module control arc electric motor.The present invention can realize for a long time, the needs of high precision tracking, the various celestial bodies of observation, and satisfies precision, the wide range speed control parameter request of astronomical sight.

Description

The movement in a curve control system of heavy caliber astronomical telescope azimuth axis

Technical field

The present invention relates to a kind of control device, be specifically related to a kind of movement in a curve control system of heavy caliber astronomical telescope azimuth axis.The present invention is a national natural science fund subsidy project, and approval number is 10778629.

Background technology

Mechanical motion when astronomical telescope is done observation is a kind of visual angle pursuit movement to the observation celestial body, and actual is compensatory motion to earth rotation, so the average velocity of this motion is 360 °/24 hours (utmost point at a slow speed).And all astronomical telescopes are observed at every turn, and the motion amplitude (or being called move distance) that needs is general can not to surpass one 180 ° arc.That is to say that the motion during astronomical telescope observation is the utmost point movement in a curve at a slow speed that is limited in the arc scope.The dynamo-electric tactic pattern of the tracking of traditional astronomical telescope all is to adopt to rotatablely move---the conversion of movement in a curve.The high speed rotary motion that is about to motor is by the movement in a curve at a slow speed of gearing conversion poling.For example, a large amount of paper that relates to the astronomical telescope motion control, patent in the prior art, even textbook all belong to this rotatablely moving---the tactic pattern of the conversion of movement in a curve.This tactic pattern complexity, the control technology relative difficult of heavy caliber astronomical telescope, the lead time is also long.The continuous exploration of the universe of human needs, the more and more bigbore telescope of astronomical development need, countries in the world are all at cooperation or oneself development heavy caliber astronomical telescope.Need the celestial body targeted species of exploration and research various, the track of operation also has nothing in common with each other, the frame of novel astronomical telescope is also constantly emerged in large numbers and is developed, require the tracking velocity scope of astronomical telescope more and more wideer, tracking accuracy is more and more higher, and the Electromechanical Control pattern of the astronomical telescope of development can not satisfy the tracer request of heavy caliber astronomical telescope at present.

Because the pursuit movement track of astronomical telescope is a camber line, so the more satisfactory type of drive of heavy caliber astronomical telescope is movement in a curve, (be Ultra-Low Speed high precision arc electric motor promptly by the movement in a curve motor, be called for short arc electric motor) constitute the design of electromechanical integration with telescope, the physical construction of this electromechanical integration movement in a curve is very simple, and can form the very strong annexation of rigidity.The control system of electromechanical integration movement in a curve is greatly improved telescopical dynamic property, control accuracy owing to there is not the torsional rigidity influence of mechanical transmission mechanism.

In modern heavy caliber astronomical telescope, the precision of its servo-control system plays important effect to whole telescopical system performance, carries out in the telescope that has built up that cost is very high in the telescope control system that improvement that telescope servo tracking positioning system carries out whole servo-drive system and modern control method use.And adopt after the system of electromechanical integration movement in a curve, the change of essence has all taken place in telescopical structure and mode of motion, and its control system also needs to adopt a kind of brand-new control technology and control device.Simultaneously, because the low speed of astronomical telescope requires to be lower than 1 "/s; Surpass 10 °/s during high speed.And require when low speed, creeping phenomenon can not take place.These technical indicators are except to the structural requirements such as telescopical machinery, electronics, also are very high to the requirement of control system.And these control technologys and control device did not adopt in existing astronomical telescope.

Summary of the invention

The problems referred to above at prior art, the movement in a curve control system that the purpose of this invention is to provide a kind of heavy caliber astronomical telescope azimuth axis, this system can satisfy that heavy caliber astronomical telescope is long-time, the needs of high precision tracking, the various celestial bodies of observation, and satisfies precision, the wide range speed control parameter request of astronomical sight.

The scheme of finishing the foregoing invention task is: a kind of movement in a curve control system of heavy caliber astronomical telescope azimuth axis, native system comprise host computer system and next bit computer system, it is characterized in that:

The host computer system is connected with the SCI module of next bit computer DSP by serial communication, and host computer is realized the functions such as online Centralized Monitoring, integrated management, Performance Detection and safeguard protection of movement in a curve control system.

The next bit computer system comprises the DSP module, actuating motor, signals collecting and comparing element, position data processing single chip (ARM7), next bit computer is finished the control corresponding algorithm according to the steering order of host computer, and the movement in a curve control system is controlled in real time.Described DSP module is also referred to as controller or Ultra-Low Speed controller; Described actuating motor is an arc electric motor; Be provided with absolute type encoder and incremental encoder in described signals collecting and the comparing element simultaneously, wherein absolute type encoder is used for the servomotor commutation; Incremental encoder is used for the position (speed) of servomotor and detects; The signal of described absolute type encoder and incremental encoder is exported to next bit computer DSP module by position data processing single chip (ARM7);

Motor-drive circuit adopts digitizing to drive Intelligent Power Module (IPM module);

Be provided with current detection sensor on driver module, the signal of this current detection circuit is sent into the A/D module of DSP through current sensor, constitutes the electric current loop of closed-loop control;

On power model (IPM module), be provided with the busbar voltage detecting sensor; this voltage detecting sensor is sent into the d. c. voltage signal that detects in the A/D converter of DSP by voltage sensor, the overvoltage that occurs in the circuit or under-voltage signal are detected and protect.

Intelligent Power Module (IPM module) is exported in the pwm signal output process photoelectricity isolation of DSP module, and then the rotation of control actuating motor.

DSP module (controller) described in the above scheme is provided with following structure:

(1). power circuit: the DC/DC conversion chip TPS7333 that selects for use TI company to release for its series DSP product specially.TPS7333 adopts the S0-8 encapsulation; 3.3 volts of outputs of univoltage have the electrification reset function, and output supervision pin (SENSE) is monitored output voltage at any time simultaneously; unstable or be lower than when resetting threshold voltage when output voltage, reset pin RESET produces the reset delay of 200ms and protects.

(2). communicating circuit: native system is finished communication function with host computer with the SCI interface of DSP, with the communication interface module of a slice MAX232 chip as slave computer and host computer.

(3). the emulation interface circuit: JTAG scanning logic circuit is used for emulation and test, adopts JTAG can realize in-circuit emulation, also is unique passage of debug process loading data, code simultaneously.Emulator can be connected with goal systems by jtag interface.

(4) .A/D, D/A change-over circuit: TMS320LF2812 itself carry two 12 A/D modular converters, and having 16 analog input channels can use.

The D/A conversion is for the state variable in the output software control system, such as magnetic linkage, torque etc.The exportable two-way state variable of D/A change-over circuit, concrete variable is by software set.

(5). current sample and holding circuit: in the movement in a curve control system, controller needs the size of knowing actual current in the winding promptly and accurately, to realize the design of Current Control and current protecting circuit.

Native system adopts 2 magnetic field balanced type Hall current sensors, and (Switzerland's lime (LEM) company produces, model is: LAH25-NP) module detects a respectively, the c phase current, this module is converted into basic binary code with the threephase stator electric current, the real-time information of electric current is provided, finishes the adjusting of electric current loop.And current information being converted to information of voltage by sampling resistor, the A/D conversion module by TMS320F2812 is converted into digital signal then, handles through digital filtering and calibration, for electric current loop is provided by the current feedback information that provides again.

(6). voltage sampling circuit: voltage sensor is mainly used to measure PWM inverter direct-flow side voltage, and the signal of output is mainly used in protection and calculates three-phase output voltage.Because tested voltage is positive DC quantity, so output signal do not need to be biased voltage, is directly inputted in the A/D converter of TMS320F2812 after amplifying by filtering.

(7). encoder interfaces: the signal of absolute type encoder, incremental encoder is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal to these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to catch mouthful (QEP) of DSP;

(8). driving circuit: export six road pwm signals, export to Intelligent Power Module (IPM) after isolating through photoelectricity.

This DSP module is provided with Ultra-Low Speed controller software system, and this Ultra-Low Speed controller software system is made up of 4 parts: the I/O mouth data exchange program that master routine, Direct Torque Control algorithm routine, pwm signal cycle interruption and controller are coupled.Wherein:

The task of main program module mainly is to finish measurement, dsp system initialization, the peripheral module initialization of the initialization of control system, motor stator end physical quantity (electric current and voltage), enter interrupt service subroutine implementation algorithm and control function, and other subsidiary function.

The Direct Torque Control algorithm routine: the Direct Torque Control algorithm is at first finished A/D data sampling and maintenance (voltage, the data acquisition of physical quantitys such as electric current, rotating speed) by interrupt service routine, carries out 3/2 conversion then; Voltage vector calculates; Electromagnetic torque calculates, and amplitude is calculated, and rotating speed is estimated in real time; Magnetic linkage and electromagnetic torque Error Calculation, stator magnetic linkage is interval to be differentiated, and voltage vector is selected, and finishes the heavy cartridges of corresponding timer comparing unit, produces corresponding PWM pulse width signal, loads on IPM output.This process is interrupted finishing by timer 2.

The pwm signal cycle interruption, it is produced by timer 1 interrupt service routine.Wherein have no progeny and finish new data acquisition, refresh, reselect voltage vector.

Data exchange program mainly comprises the communication program with host computer, the storage of parameter among the EEPROM.Reading and display routine of controller keyboard value.Receive the instruction of host computer by suitable communication interface, and execution result is passed back to host computer, to satisfy the real-time monitoring of host computer.

The model that absolute type encoder described in the above scheme adopts German SICK company to produce is the ARS60-F4M03600 absolute type encoder; The TRD-K720-YS absolute type encoder that also can adopt Japanese Koyo company to produce.

The model of selecting the German SICK company of 3600 lines to produce is because the number of poles of arc electric motor is 120 for the ARS60-F4M03600 absolute type encoder, the signal that scrambler produces need be processed into U, V, the W signal that corresponding phase differential is 120 ° of electrical angles, the signal that scrambler produces is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal with these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to catch mouthful (QEP) of DSP.

Described incremental encoder adopts the steel band type photoelectric encoder, be used for detecting rotating speed of motor and position, the scrambler that can select to adopt German HEIDENHAIN company to produce, model is ERA-780C, or the steel band type scrambler of selecting for use Britain RENISHAW company to produce, model is RGH24Y30A00A.

The Digital Detecting of above signals collecting and comparing element partly comprises several aspects:

1, position probing

The hybrid scrambler that position probing is made up of absolute type encoder and incremental encoder is finished, its resolution is finally decided by the ERA-780C scrambler that German HEIDENHAIN company produces, can obtain 3.6 " resolution, join suitable its resolution of segmentation device and can also improve if increase.

2, speed detects

The ERA-780C scrambler that speed detects with the production of German HEIDENHAIN company obtains, and can obtain 3.6 " resolution, join suitable its resolution of segmentation device and can also improve if increase.

3, commutation detects

Commutation detects the ARS60-F4M03600 absolute type encoder with the production of German SICK company.

These three detection signals obtain position, speed and commutation signal respectively after being handled by position data processing single chip (ARM7) respectively.

According to the parameter of system, in the arc electric motor actual moving process, from withstand voltage and electric current and consider that in price described Intelligent Power Module can adopt Mitsubishi PM15CZF120, rated current is 15A, withstand voltage 1200V.This module comprises five terminals: dc voltage input end P and N and three-phase alternating voltage output terminal U, V, W; Control section is totally 18 terminals, is respectively applied for driving power, pwm signal input and fault-signal output etc.

For the Ultra-Low Speed arc electric motor of telescope control usefulness, running speed is a Ultra-Low Speed, and this brings stern challenge to control, and its speed ratio broad surpasses 36000: 1 requirement, requires telescopical tracking accuracy very high in addition, reaches 0.1 ".For this reason, the application provides a kind of controller of suitable heavy caliber astronomical telescope Ultra-Low Speed operation.

Because native system adopts Strategy of Direct Torque Control, therefore, the workload of data computation is very big, and the precision prescribed height for the real-time that guarantees to control, also requires the computing velocity of CPU to want fast; And, in order to reduce the system peripherals circuit, preferably chip itself is integrated PWM output circuit and A/D change-over circuit etc.To achieve these goals, reach the estimation to magnetic linkage, torque, rotor-position and the tach signal of actuating motor, the present invention selects the high performance TMS320F2812DSP digital signal processor of TI company for use.TMS320F2812 is a high-performance that is used to control of TI company, 32 fixed-point DSP chip of multi-functional, high performance-price ratio.The compatible TMS320F2407 order set of this chip, the highest can under the 150MHz dominant frequency, work, instruction cycle 6.67ns, and have the Flash storer of 8K * 16.Peripheral hardware mainly comprises 12 ADC of 2 * 8 passages, 2 road SCI (serial communication interface), 1 road SPI (16 Serial Peripheral Interface (SPI)s), 1 road McBSP, 1 road eCAN (controller local area network) etc. on its sheet.And have two event manager modules (EVA, EVB), comprise 6 road PWM/CMP, 2 road QEP, 3 road CAP, 2 tunnel 16 bit timing devices (or TxPWM/TxCMP) respectively.In addition, this device also has 3 independently 32 bit CPU timers, and the GPIO pins that reach 56 independent programmings, can extend out greater than 1K * 16 program and data-carrier store.

TMS320F2812 adopts Harvard's bus structure, has cryptoguard mechanism, can carry out two 16 * 16 and take advantage of and add and 32 * 32 take advantage of add operation, thereby can take into account the control and the dual-use function of computing fast.

Power conversion chip adopts TPS7333, is 3.3V with the 5V power source conversion, uses for DSP and other segment chips.System protection circuit is by detecting bus current, phase current and line voltage and IPM fault-signal, and corresponding PDPINT of DSP and XINT2 pin are sent in its output respectively.D/A switch chip DAC7625 is used for variablees such as the magnetic linkage, torque, rotating speed, rotor-position of real-time output system.In the arc electric motor driving governor, except electric current, voltage signal, magnetic linkage, torque, rotor-position are to obtain by the estimation of certain algorithm, and tach signal is to obtain by position data processing single chip (ARM7), so DSP and peripheral circuit thereof are the cores of entire controller.

The movement in a curve control system of heavy caliber astronomical telescope azimuth axis of the present invention can satisfy that heavy caliber astronomical telescope is long-time, the needs of high precision tracking, the various celestial bodies of observation, and satisfies precision, the wide range speed control parameter request of astronomical sight: its minimum speed requires to reach 1 " below/s; Reach during high speed 10 °/more than the s; Its velocity range changes above 36000: 1.

Description of drawings

Fig. 1 is the main circuit diagram of movement in a curve control system;

Fig. 2 is the hardware configuration block scheme of movement in a curve control system;

Fig. 3 is for being the control core circuit block diagram with TMS320F2812 DSP;

Fig. 4 is hardware over-current detection and latch cicuit;

Fig. 5 is the hardware lockout driving circuit;

Fig. 6 is an arc electric motor position limit signal circuit diagram;

Fig. 7 is the total graph of a relation of movement in a curve control system inputoutput data;

Fig. 8 is a slave computer DSP main program flow chart;

Fig. 9 is the Direct Torque Control algorithm flow chart.

Embodiment

Embodiment 1, and the movement in a curve control system of heavy caliber astronomical telescope azimuth axis comprises host computer system and next bit computer system.Host computer is connected with the SCI module of DSP by serial communication, and host computer is realized the functions such as online Centralized Monitoring, integrated management, Performance Detection and safeguard protection of movement in a curve control system.The next bit computer system comprises the DSP module, actuating motor, signals collecting and comparing element, position data processing single chip (ARM7).Slave computer is finished the control corresponding algorithm according to the steering order of host computer, and the arc electric motor kinetic control system is controlled in real time, is connected with motor-drive circuit and holding circuit on the motor.Described astronomical telescope is driven by arc electric motor; Be provided with absolute type encoder and incremental encoder in signals collecting and the comparing element simultaneously, wherein absolute type encoder is used for the commutation of actuating motor, and incremental encoder is used for the position (speed) of actuating motor and detects.The signal of described absolute type encoder, incremental encoder is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal to these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to catch mouthful (QEP) of DSP; Motor-drive circuit adopts digitizing to drive Intelligent Power Module (IPM module); Be provided with current detection sensor in the system, this current detection circuit detects the dc bus current and the phase current of motor, and dc bus current and phase current detection signal are sent in the A/D converter of DSP through current sensor, constitutes the electric current loop of closed-loop control; On power model (IPM module), be provided with the busbar voltage detecting sensor, this voltage detecting sensor is sent into the d. c. voltage signal that detects in the A/D converter of DSP by voltage sensor, the overvoltage that occurs in the circuit or under-voltage signal are detected and protect; The pwm signal output process photoelectricity isolation of DSP module is exported to and is driven Intelligent Power Module (IPM module), and then the rotation of control actuating motor.

The circuit part design of native system is as follows:

Fig. 1 is the main circuit diagram of movement in a curve control system of the present invention: three-phase alternating voltage is through rectification module, obtain DC voltage, filter capacitor C1 has added soft starting circuit owing to apply the charging heavy impulse current that voltage causes suddenly on dc bus in order to prevent to power on.Originally J1 opens a way, C1 is through resistance R 1 charging, R1 has positive temperature coefficient (PTC), can limit charging current value effectively, after treating that DC bus-bar voltage rises to certain value, drive A.C. contactor J1 by voltage detecting circuit, contact J1 is with the R1 short circuit, C1 recharges to normal dc voltage value, supplies with the three-phase inverter of being made up of the IGBT power device.Converter main circuit adopts six unit IGBT Intelligent Power Module (IPM), output A, the B of inverter and C cause three phase windings of rare earth permanent magnet synchronous servo motor stator, wherein A also wears mutually with C and walks around current sensor, this sensor is the current sensor of ear suddenly of zero flux compensation principle, and the current detection signal of A, C phase is provided to system.

The series arm that on dc bus, is also connecting R2 and V1 power switch, the energy-dissipating brake circuit when constituting motor braking.When motor braking, inverse parallel diode by the inverter brachium pontis, the form of the kinetic energy of system mechanics motion parts with electric energy, give capacitor C 1 charging of dc bus, because the C1 electric capacity is limited, to cause that DC bus-bar voltage constantly raises, and at first make three-phase commutation bridge enter cut-off state, if constantly the busbar voltage that raises is not taken measures to be limited so safety with the circuit devcie of entail dangers to power section.By detecting DC bus-bar voltage, when surpassing the higher limit of setting, make the V1 conducting, the part energy storage on the C1 will consume by R2, and DC bus-bar voltage is descended.

Six unit IGBT Intelligent Power Module (IPM) are integrated IGBT three phase inverter bridge, driving circuit and holding circuit; only drive signal need be delivered to the signal input end of Intelligent Power Module by optocoupler; do not need to add other driving circuit, and be in order to realize the electrical isolation of control section and power section by optocoupler.Holding circuit can realize overcurrent protection, short-circuit protection, overheating protection and the protection of control under-voltage to module.Arbitrary or several protection working value that reaches in the temperature that detects electric current by module, module and these signals of control voltage, holding circuit can reduce driving voltage automatically and turn-off to IGBT, and send fault-signal, and system can in time be reacted.

In order to suppress to disturb, the absorption circuit of being made up of the voltage dependent resistor (VDR) network has been installed in the three-phase alternating current point of incoming cables; On dc bus, the absorption circuit of being made up of C2, D1, R3 has been installed at adjacent IGBT module lead-in wire place, suppresses the voltage glitch on the bus effectively.

The control power circuit comprises one group+5V for system provides all low-voltage dc power supplies, supplies with DSP, digital integrated circuit and photoelectric encoder: mimic channel and current sensor that two groups ± 15V supply control part divides; Four groups+15V supplies with the driving circuit of IGBT IPM, wherein supplies with three upward brachium pontis respectively for three groups, supplies with three following brachium pontis for other one group, and this group+15V of while is the control and the holding circuit of supply power part also.

Current sample and holding circuit: in the movement in a curve control system, controller needs the size of knowing actual current in the winding promptly and accurately, to realize the design of Current Control and current protecting circuit.

Voltage sampling circuit: voltage sensor is mainly used to measure PWM inverter direct-flow side voltage, and the signal of output is mainly used in to be measured and the protection three-phase output voltage.

Intelligent Power Module (IPM module) is exported in 6 road pwm control signals process photoelectricity isolation of DSP module output, and then the rotation of control arc electric motor.

The hardware control system block diagram please refer to Fig. 2: native system can be divided into following subelement by function: IPM module, four groups of independent current source, light-coupled isolation, electric current and voltage detecting, holding circuit, DSP control chip and peripheral circuit, serial communication interface, keyboard and display circuits.

In the movement in a curve control system, controller needs the size of knowing actual current in the winding promptly and accurately, to realize the adjusting of electric current loop.The value of 2 road current samples is sampled by 12 built-in A/D of DSP in Fig. 2,6 road pwm control signals of behind current regulator, exporting, pwm control signal is exported to Intelligent Power Module (IPM) after isolating through photoelectricity, and then the rotation of control arc electric motor.On the Intelligent Power Module (IPM module) of arc electric motor, be provided with busbar voltage, bus current detecting sensor; this detecting sensor is sent into the DC voltage, the current signal that detect in the A/D converter of DSP by voltage, current sensor, to the overvoltage that occurs in the circuit or under-voltage, over-current signal detects and protect.At Fig. 2 mean camber line motor is that number of pole-pairs is 60 actuating motor.

The signal that scrambler produces in Fig. 2 is sent to position data processing single chip (ARM7), after position data processing single chip (ARM7) became position signalling, rate signal and commutation signal with these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to catch mouthful (QEP) of DSP.

Fig. 3 is with TMS320F2812 DSP control core circuit block diagram.In telescope control system, TMS320F2812 has born the control core task.Judgement and comprehensive and the choosing all of control model of coordinate transform that speed adjusting, Current Regulation, field orientation control are related and mathematical operation, failure message are finished by the software of TMS320F2812.

In Fig. 3, mainly contain DC bus-bar voltage testing circuit, dc bus current testing circuit, phase current sampling circuit, speed (position) testing circuit, isolated drive circuit, I/O interface circuit, communicating circuit, RAM (cy7c199), the chip that resets (X25043), fault demonstration etc. are partly formed.In the debug phase, program can be placed among the outer RAM of sheet, can repeatedly debug, if program is truly feasible, and prepare long-term the use, program can be write among the FLASH ROM in the DSP sheet.Variable in the debug process is in sheet in single port RAM or the dual port RAM, to improve processing speed.With the communication interface module of MAX232 chip as slave computer and host computer.

Power conversion chip adopts TPS7333, and general+5V power source conversion is 3.3V, uses for DSP and other segment chips.System protection circuit is by detecting bus current, phase current and line voltage and IPM fault-signal, and corresponding PDPINT of DSP and XINT2 pin are sent in its output respectively.Mould/number conversion chip DAC7625 is used for variablees such as the magnetic linkage, torque, rotating speed, rotor-position of real-time output system.In the arc electric motor driving governor, except electric current, voltage signal, magnetic linkage, torque, rotor-position are to obtain by the estimation of certain algorithm, and tach signal is to obtain by position data processing single chip (ARM7), so DSP and peripheral circuit thereof are the cores of entire controller.

Fig. 4 is hardware over-current detection and latch cicuit; The principle of protection is to detect the three-phase electricity flow valuve in real time, compares with the reference value that configures in advance, in case the phenomenon of overcurrent appears in electric current, just locks over-current signal, and output alarm signal, and sends corresponding execution command.Among Fig. 4, i a, i bAnd i cBe respectively through following the three-phase current signal of processing; pass through the bridge rectifier circuit that VD1~VD6 forms again; with the lowest high-current value that obtains and minimum current value with configure in advance ± REF compares and obtains over-current signal; latch through 74HC74 again; obtain having the overcurrent alerting signal ERROR of protectiveness, the system of delivering to handles and indicates as reporting to the police with light emitting diode.System is provided with three tunnel hardware alarms signals altogether, is respectively three-phase current alerting signal, dc bus alerting signal and IPM alerting signal, and corresponding PDPINT of DSP TMS320F2812 and XINT2 pin are sent in its output respectively.

Fig. 5 is the hardware lockout driving circuit; In a single day TMS320F2812 detects input PDPINT, XINT2 pin signal is a low level, and DSP will block pwm pulse immediately, produces hardware interrupts.In Fig. 5, VCC_C is an IPM driving circuit power supply, and PDPINT, XINT2 are the total alerting signals of system.If there is alerting signal to produce, field effect transistor VM1 will turn-off, and makes VCC_C can not offer the needed electric current that draws of driving circuit, thereby blocks all brachium pontis, and primary power is output as zero, and system is protected.

Fig. 6 is an arc electric motor position limit signal circuit; When motor rotation during to the position set, spacing input current potential is a low level, and behind photoelectrical coupler TLP559, its 6 pin is a low level, outputs to the I/O mouth of DSP then, and DSP makes corresponding action, blocks this travel direction.

The relation of the needed whole inputoutput datas of movement in a curve control system is by shown in Figure 7." rotating speed " of analog quantity, " DC voltage " and " set-point " are read in by interrupting 1 employing clock interrupt mode execution by the control and the data of the A/D converter in the host computer.

The value of reading in of rotating speed and DC voltage is directly transmitted removes (the Direct TorqueControl: Direct Torque Control) control as DTC.And set-point is sent to TMS320F2812 by interrupting 2 controls.In torque is directly regulated, torque set-point T e *Be limited to be transmitted in allowed limits.ψ e *Send by interrupting 2 as the flux linkage set value.Transmit torque tolerance ε by interrupting 4 TWith magnetic linkage ε ΨWith by interrupting 6 transport model parameters.Model parameter is written in the twoport data RAM.

The A/D converter of TMS320F2812 is accepted the current component i of tested motor αComponent and i βComponent.In addition, also accept to be monitored by the minimum switch duration status signal of the inverter provide at the state mouth, the output quantity that is used to write down is exported by three D/A converters.

TMS320F2812 produces the voltage control signal of inverter, sends output signal S as shown in Figure 7 after the minimum switch duration monitors mouthful supervision a, S b, S c

Fig. 8 is a slave computer DSP main program flow chart; The task of main program module mainly is to finish measurement, dsp system initialization, the peripheral module initialization of the initialization of control system, motor stator end physical quantity (electric current and voltage), enter interrupt service subroutine implementation algorithm and control function, and other subsidiary function.

Fig. 9 is the Direct Torque Control algorithm flow chart.The Direct Torque Control algorithm routine: comprising interior circulation and two circulations of outer circulation, work such as voltage, current sample, motor stator magnetic linkage and torque observe and voltage vector selection are mainly finished in interior circulation; Speed control is mainly finished in outer circulation.The Direct Torque Control algorithm routine is at first finished A/D data sampling and maintenance (voltage, the data acquisition of physical quantitys such as electric current, rotating speed) by interrupt service routine, and its interrupt service routine is mainly finished 3/2 conversion; Voltage vector calculates; Stator magnetic linkage is interval to be differentiated, and amplitude is calculated, and electromagnetic torque calculates, and rotating speed is estimated in real time; Magnetic linkage and electromagnetic torque Error Calculation, voltage vector is selected, and finishes the heavy cartridges of corresponding timer comparing unit, produces corresponding PWM pulse width signal, loads on IPM output.This process is interrupted finishing by timer 2.

Claims (6)

1, a kind of movement in a curve control system of heavy caliber astronomical telescope azimuth axis, native system comprises host computer system and next bit computer system, it is characterized in that:
The host computer system is connected with the SCI module of next bit computer DSP by serial communication, and the host computer system realizes online Centralized Monitoring, integrated management, Performance Detection and the safety protection function of movement in a curve control system;
The next bit computer system comprises the DSP module, actuating motor, signals collecting and comparison module, position data processing single chip, the next bit computer system finishes the control corresponding algorithm according to the steering order of host computer system, and the movement in a curve control system is controlled in real time; Described actuating motor is an arc electric motor; Be provided with absolute type encoder and incremental encoder in described signals collecting and the comparison module simultaneously, wherein absolute type encoder is used for the servomotor commutation; Incremental encoder is used for the position probing of servomotor; The signal of described absolute type encoder and incremental encoder is exported to next bit computer DSP module by the position data processing single chip; Simultaneously, in the next bit computer system:
Motor-drive circuit adopts digitizing to drive Intelligent Power Module;
Be provided with current detection sensor on driver module, the signal of this current detection sensor is sent into the A/D module of DSP, constitutes the electric current loop of closed-loop control;
Be provided with the busbar voltage detecting sensor on power model, this voltage detecting sensor is sent into the d. c. voltage signal that detects in the A/D converter of DSP by voltage sensor, and the overvoltage that occurs in the circuit or under-voltage signal are detected and protect;
Intelligent Power Module is exported in the pwm signal output process photoelectricity isolation of DSP module, and then the rotation of control actuating motor.
2, the movement in a curve control system of heavy caliber astronomical telescope azimuth axis according to claim 1 is characterized in that, described DSP module is provided with following structure:
(1). power circuit: select DC/DC conversion chip TPS7333 for use; TPS7333 adopts the S0-8 encapsulation, 3.3 volts of outputs of univoltage have the electrification reset function, and output simultaneously monitors that pin SENSE monitors output voltage at any time, unstable or be lower than when resetting threshold voltage when output voltage, reset pin RESET produces the reset delay of 200ms and protects;
(2). communicating circuit: the SCI interface of employing DSP is finished the communication function with host computer, with the communication interface module of a slice MAX232 chip as slave computer and host computer;
(3). the emulation interface circuit: JTAG scanning logic circuit is used for emulation and test, adopts JTAG to realize in-circuit emulation, also is unique passage of debug process loading data, code simultaneously; By jtag interface emulator is connected with goal systems;
(4) .A/D, D/A change-over circuit: TMS320LF2812 itself carry two 12 A/D modular converters, and having 16 analog input channels can use; D/A change-over circuit output two-way state variable;
(5). current sample and holding circuit: in the movement in a curve control system, the controller signal that obtains size of current in the winding promptly and accurately is to realize the design of Current Control and current protecting circuit;
(6). voltage sampling circuit: voltage sensor is used for measuring PWM inverter direct-flow side voltage, and the signal of output is used for protection and calculates three-phase output voltage; Tested voltage output signal is directly inputted in the A/D converter of TMS320F2812 after amplifying by filtering;
(7). encoder interfaces: the signal of absolute type encoder, incremental encoder is sent to position data processing single chip ARM7, after position data processing single chip ARM7 became position signalling, rate signal and commutation signal to these two signal transformations, its positional value, velocity amplitude and commutation signal all were sent to mouthful QEP that catches of DSP;
(8). driving circuit: export six road pwm signals, export to Intelligent Power Module IPM after isolating through photoelectricity.
3, the movement in a curve control system of heavy caliber astronomical telescope azimuth axis according to claim 2 is characterized in that, the concrete structure of described control system main circuit is: three-phase alternating voltage obtains DC voltage through rectification module; On dc bus, be added with soft starting circuit, supply with the three-phase inverter of forming by the IGBT power device; Converter main circuit adopts six unit IGBT Intelligent Power Module, and system adopts 2 magnetic field balanced type Hall current sensor modules to detect a respectively, and the c phase current is finished the detection of electric current.
4, the movement in a curve control system of heavy caliber astronomical telescope azimuth axis according to claim 3, it is characterized in that, be the IGBT power device in the described driving Intelligent Power Module, the model that adopts is PM15CZF120, its main circuit partly comprises five terminals: dc voltage input end P and N and three-phase alternating voltage output terminal U, V, W; Control section is totally 18 terminals, is respectively applied for driving power, pwm signal input and fault-signal output.
5, the movement in a curve control system of heavy caliber astronomical telescope azimuth axis according to claim 4 is characterized in that, described absolute type encoder is that model is the absolute type encoder of ARS60-F4M03600; Or model is the absolute type encoder of TRD-K720-YS;
Described incremental encoder adopts the steel band type photoelectric encoder, is used for detecting rotating speed of motor and position, be selected from the scrambler that model is ERA-780C, or model is the steel band type scrambler of RGH24Y30A00A.
6, according to the movement in a curve control system of the described heavy caliber astronomical telescope azimuth axis of one of claim 1~5, it is characterized in that, system adopts the Direct Torque Control structure, comprising interior circulation and two circulations of outer circulation, voltage, current sample, motor stator magnetic linkage and torque observe are mainly finished in interior circulation and voltage vector is selected; Speed control is mainly finished in outer circulation; The Direct Torque Control structure is at first finished A/D data sampling and maintenance by interrupt service routine, carries out 3/2 conversion then; Voltage vector calculates; Electromagnetic torque calculates, and amplitude is calculated, and rotating speed is estimated in real time; Magnetic linkage and electromagnetic torque Error Calculation, stator magnetic linkage is interval to be differentiated, and voltage vector is selected, and finishes the heavy cartridges of corresponding timer comparing unit, produces corresponding PWM pulse width signal, loads on IPM output.
CNB2007101345292A 2007-10-31 2007-10-31 The movement in a curve control system of heavy caliber astronomical telescope azimuth axis CN100549752C (en)

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